image_pub_nodelet.cpp
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29 
30 #include <algorithm>
31 
32 #include <boost/make_shared.hpp>
33 
34 #include <cv_bridge/cv_bridge.h>
38 #include <opencv2/core/core.hpp>
39 #include <opencv2/highgui/highgui.hpp>
40 #include <nodelet/nodelet.h>
41 #include <ros/ros.h>
42 #include <sensor_msgs/Image.h>
44 #include <swri_roscpp/parameters.h>
45 
46 namespace swri_image_util
47 {
49  {
50  public:
51  virtual void onInit()
52  {
54 
55  init_timer_ = node.createTimer(
56  ros::Duration(1.0), &ImagePubNodelet::initialize, this, true);
57  }
58 
59  void initialize(const ros::TimerEvent& unused)
60  {
63 
64  std::string image_file;
65  swri::param(priv, "image_file", image_file, image_file);
66 
67  std::string mode;
69 
70  double rate = 1;
71  swri::param(priv, "rate", rate, rate);
72  rate = std::max(0.1, rate);
73 
74  cv_image.header.stamp = ros::Time::now();
76  {
77  cv_image.image = cv::imread(image_file, cv::IMREAD_COLOR);
79  }
80  else
81  {
82  cv_image.image = cv::imread(image_file, cv::IMREAD_GRAYSCALE);
84  }
85 
86  if (!cv_image.image.empty())
87  {
89  image_pub_ = it.advertise("image", 2, true);
90  pub_timer_ = node.createTimer(
91  ros::Duration(1.0 / rate), &ImagePubNodelet::publish, this);
92  }
93  else
94  {
95  ROS_FATAL("Failed to load image.");
97  }
98  }
99 
100  void publish(const ros::TimerEvent& e)
101  {
102  cv_image.header.stamp = e.current_real;
104  }
105 
106  private:
110 
112  };
113 }
114 
115 // Register nodelet plugin
#define ROS_FATAL(...)
void publish(const ros::TimerEvent &e)
std::string encoding
Publisher advertise(const std::string &base_topic, uint32_t queue_size, bool latch=false)
ros::NodeHandle & getPrivateNodeHandle() const
void publish(const sensor_msgs::Image &message) const
static void param(const ros::NodeHandle &nh, const std::string &name, int &variable, const int default_value)
SWRI_NODELET_EXPORT_CLASS(swri_image_util, DrawPolygonNodelet)
Timer createTimer(Rate r, Handler h, Obj o, bool oneshot=false, bool autostart=true) const
ros::NodeHandle & getNodeHandle() const
image_transport::Publisher image_pub_
ROSCPP_DECL void requestShutdown()
static Time now()
void initialize(const ros::TimerEvent &unused)
sensor_msgs::ImagePtr toImageMsg() const
std_msgs::Header header


swri_image_util
Author(s): Kris Kozak
autogenerated on Tue Apr 6 2021 02:50:39